Merge branch 'main' into refactor/namespace-tracking_object_merger

.cppcheck_suppressions

@@ -1,12 +1,11 @@
 *:*/test/*
 
-arrayIndexThenCheck
 checkersReport
-constParameterPointer
 constParameterReference
 constVariable
 constVariableReference
 containerOutOfBounds
+// cspell: ignore cstyle
 cstyleCast
 duplicateBranch
 duplicateBreak
@@ -23,11 +22,10 @@ noValidConfiguration
 passedByValue
 preprocessorErrorDirective
 redundantInitialization
-returnByReference
-shadowArgument
 shadowFunction
 shadowVariable
 syntaxError
+// cspell: ignore uninit
 uninitMemberVar
 unknownMacro
 unmatchedSuppression

.github/CODEOWNERS

@@ -185,12 +185,12 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_mod
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** [email protected] [email protected]
 planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** [email protected]
 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]

.github/pull_request_template.md

@@ -0,0 +1,61 @@
+## Description
+
+## Related links
+
+**Parent Issue:**
+
+- Link
+
+<!-- ⬇️🟢
+**Private Links:**
+
+- [CompanyName internal link]()
+⬆️🟢 -->
+
+## How was this PR tested?
+
+## Notes for reviewers
+
+None.
+
+## Interface changes
+
+None.
+
+<!-- ⬇️🔴
+
+### Topic changes
+
+#### Additions and removals
+
+| Change type   | Topic Type      | Topic Name    | Message Type        | Description       |
+|:--------------|:----------------|:--------------|:--------------------|:------------------|
+| Added/Removed | Pub/Sub/Srv/Cli | `/topic_name` | `std_msgs/String`   | Topic description |
+
+#### Modifications
+
+| Version | Topic Type      | Topic Name        | Message Type        | Description       |
+|:--------|:----------------|:------------------|:--------------------|:------------------|
+| Old     | Pub/Sub/Srv/Cli | `/old_topic_name` | `sensor_msgs/Image` | Topic description |
+| New     | Pub/Sub/Srv/Cli | `/new_topic_name` | `sensor_msgs/Image` | Topic description |
+
+### ROS Parameter Changes
+
+#### Additions and removals
+
+| Change type   | Parameter Name | Type     | Default Value | Description       |
+|:--------------|:---------------|:---------|:--------------|:------------------|
+| Added/Removed | `param_name`   | `double` | `1.0`         | Param description |
+
+#### Modifications
+
+| Version | Parameter Name   | Type     | Default Value | Description       |
+|:--------|:-----------------|:---------|:--------------|:------------------|
+| Old     | `old_param_name` | `double` | `1.0`         | Param description |
+| New     | `new_param_name` | `double` | `1.0`         | Param description |
+
+🔴⬆️ -->
+
+## Effects on system behavior
+
+None.

.github/sync-files.yaml

@@ -7,9 +7,6 @@
     - source: .github/ISSUE_TEMPLATE/bug.yaml
     - source: .github/ISSUE_TEMPLATE/config.yml
     - source: .github/ISSUE_TEMPLATE/task.yaml
-    - source: .github/PULL_REQUEST_TEMPLATE.md
-    - source: .github/PULL_REQUEST_TEMPLATE/small-change.md
-    - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
     - source: .github/stale.yml
     - source: .github/workflows/cancel-previous-workflows.yaml

.github/workflows/clang-tidy-differential.yaml

@@ -20,14 +20,10 @@ jobs:
     runs-on: ubuntu-latest
     container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
     steps:
-      - name: Set PR fetch depth
-        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
-
       - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+          fetch-depth: 0
 
       - name: Show disk space before the tasks
         run: df -h
@@ -41,19 +37,17 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v42
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
+        run: |
+          echo "changed_files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | tr '\n' ' ' || true)" >> $GITHUB_OUTPUT
+        shell: bash
 
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        if: ${{ steps.get-modified-files.outputs.changed_files != '' }}
         uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
           rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+          target-files: ${{ steps.get-modified-files.outputs.changed_files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
           build-depends-repos: build_depends.repos
 

.github/workflows/comment-on-pr.yaml

@@ -0,0 +1,25 @@
+name: comment-on-pr
+on:
+  pull_request_target:
+
+jobs:
+  comment-on-pr:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Initial PR comment
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          message: |
+            Thank you for contributing to the Autoware project!
+
+            🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft).
+
+            Please ensure:
+            - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/).
+            - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/).
+            - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review).

.github/workflows/cppcheck-daily.yaml

@@ -22,7 +22,7 @@ jobs:
         continue-on-error: true
         id: cppcheck
         run: |
-          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --suppress=*:*/test/* --error-exitcode=1 --xml . 2> cppcheck-report.xml
         shell: bash
 
       - name: Count errors by error ID and severity

.github/workflows/cppcheck-differential.yaml

@@ -31,37 +31,33 @@ jobs:
         run: git fetch origin ${{ github.base_ref }}
         shell: bash
 
-      - name: Get changed files
-        id: changed-files
+      - name: Get changed files (existing files only)
+        id: get-changed-files
         run: |
-          git diff --name-only "origin/${{ github.base_ref }}"...HEAD > changed_files.txt
-          cat changed_files.txt
+          echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
         shell: bash
 
       - name: Run Cppcheck on changed files
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         continue-on-error: true
         id: cppcheck
         run: |
-          files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
-          if [ -n "$files" ]; then
-            echo "Running Cppcheck on changed files: $files"
-            cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
-          else
-            echo "No C++ files changed."
-            touch cppcheck-report.txt
-          fi
+          echo "Running Cppcheck on changed files: ${{ steps.get-changed-files.outputs.changed-files }}"
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions ${{ steps.get-changed-files.outputs.changed-files }} 2> cppcheck-report.txt
         shell: bash
 
       - name: Show cppcheck-report result
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         run: |
           cat cppcheck-report.txt
 
       - name: Upload Cppcheck report
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         uses: actions/upload-artifact@v2
         with:
           name: cppcheck-report
           path: cppcheck-report.txt
 
       - name: Fail the job if Cppcheck failed
-        if: steps.cppcheck.outcome == 'failure'
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' && steps.cppcheck.outcome == 'failure' }}
         run: exit 1

common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

@@ -31,6 +31,7 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include <rosgraph_msgs/msg/clock.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/bool.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
@@ -527,6 +528,7 @@ class AutowareTestManager
   AutowareTestManager()
   {
     test_node_ = std::make_shared<rclcpp::Node>("autoware_test_manager_node");
+    pub_clock_ = test_node_->create_publisher<rosgraph_msgs::msg::Clock>("/clock", 1);
   }
 
   template <typename MessageType>
@@ -560,10 +562,28 @@ class AutowareTestManager
     }
   }
 
+  /**
+   * @brief Publishes a ROS Clock message with the specified time.
+   *
+   * This function publishes a ROS Clock message with the specified time.
+   * Be careful when using this function, as it can affect the behavior of
+   * the system under test. Consider using ament_add_ros_isolated_gtest to
+   * isolate the system under test from the ROS clock.
+   *
+   * @param time The time to publish.
+   */
+  void jump_clock(const rclcpp::Time & time)
+  {
+    rosgraph_msgs::msg::Clock clock;
+    clock.clock = time;
+    pub_clock_->publish(clock);
+  }
+
 protected:
   // Publisher
   std::unordered_map<std::string, std::shared_ptr<rclcpp::PublisherBase>> publishers_;
   std::unordered_map<std::string, std::shared_ptr<rclcpp::SubscriptionBase>> subscribers_;
+  rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr pub_clock_;
 
   // Node
   rclcpp::Node::SharedPtr test_node_;